version: 66.14
glider: 46
mission: 5
dive: 133
start: 9 6 119 15 21 6
data:
$ID,46
$MISSION,5
$DIVE,133
$N_DIVES,0
$STOP_T,9071919
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$D_ABORT,6050
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,2400
$T_MISSION,2700
$T_ABORT,3360
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,480
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-10
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79912.602
$MASS_COMP,10878
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3140
$TGT_DEFAULT_LON,-6410
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3820
$C_PITCH,3045
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14.73
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,2215
$C_ROLL_CLIMB,2170
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2285
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.000267
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.768235
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044099661
$SEABIRD_T_H,0.000646114
$SEABIRD_T_I,2.5998468e-05
$SEABIRD_T_J,3.1825327e-06
$SEABIRD_C_G,-9.5395975
$SEABIRD_C_H,1.1021291
$SEABIRD_C_I,-0.0015787298
$SEABIRD_C_J,0.00019746556
$SEABIRD_C_Z,2945.97
$GPS1,060919,151631,3614.8540,-6228.9629,5,0.9,46,-15.9,0.6,245.4,9,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-46.3
$GPS2,060919,152027,3614.8062,-6229.0371,8,1.0,30,-15.9,0.7,173.4,8,5.0
$SPEED_LIMITS,0.130,0.236
$TGT_NAME,SW
$TGT_LATLONG,3541.400,-6230.230
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,152.6,61894,-27.5,-7.500,-30.00,1091
$D_GRID,5400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,70,-1.88,-53.5,193,2169,858,1024,1.2,0.4,6,153,0.00,0.00,-80.55,0.156,16390,0.000,0.000,194,2170,2470,2383,2558,0,0,0,0,0,0,27.22,26.69,26.49,8.61,18.34
$GC,155,-1.90,-122.8,194,2170,2383,2561,1.8,-1.0,14,185,8.32,3.38,-13.07,0.181,18948,0.238,0.070,2434,836,2709,2600,2819,0,0,0,0,0,0,26.25,26.57,26.47,8.76,18.38
$GC,733,-2.08,-194.6,2433,836,2599,2824,1.1,0.2,71,756,0.05,3.25,-14.95,0.176,21510,0.119,0.055,2378,2214,2956,2845,3068,0,0,0,0,0,0,26.94,27.07,26.63,8.79,18.53
$GC,1063,-2.02,-194.6,2377,2215,2846,3069,20.7,-8.1,104,1074,0.00,3.42,0.00,0.000,516,0.000,0.067,2378,839,2957,2846,3069,0,0,0,0,0,0,27.34,26.98,27.35,8.82,18.30
$GC,1622,-1.93,-194.6,2377,839,2846,3069,49.9,0.3,159,1631,0.20,3.22,0.00,0.000,3078,0.184,0.055,2421,2213,2957,2845,3069,0,0,0,0,0,0,26.66,27.11,26.77,8.82,18.49
$GC,1931,-1.93,-194.6,2421,2213,2846,3069,50.6,0.2,190,1940,0.00,3.40,0.00,0.000,516,0.000,0.070,2422,839,2958,2846,3070,0,0,0,0,0,0,27.36,27.00,27.36,8.81,19.24
$GC,2096,-1.86,-194.6,2422,839,2846,3070,49.6,0.3,206,2104,0.12,3.25,0.00,0.000,3078,0.206,0.052,2443,2212,2958,2846,3070,0,0,0,0,0,0,26.73,27.11,26.90,8.82,18.61
$GC,2404,-1.86,-194.6,2442,2211,2846,3070,51.2,-0.7,237,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2212,2958,2846,3070,0,0,0,0,0,0,27.36,27.37,27.37,8.81,19.32
$GC,2705,-1.86,-194.6,2442,2212,2846,3070,53.2,-1.4,267,2715,0.00,3.45,0.00,0.000,260,0.000,0.070,2428,3594,2957,2846,3069,0,0,0,0,0,0,27.36,27.01,27.37,8.81,18.85
$GC,3270,-1.80,-194.6,2427,3594,2846,3070,55.5,-0.0,322,3279,0.10,3.25,0.00,0.000,3078,0.194,0.052,2458,2176,2957,2846,3069,0,0,0,0,0,0,26.79,27.19,26.87,8.81,19.44
$GC,3578,-1.80,-194.6,2457,2176,2846,3070,56.0,0.2,353,3587,0.00,3.22,0.00,0.000,516,0.000,0.070,2457,869,2957,2845,3070,0,0,0,0,0,0,27.36,27.01,27.38,8.81,19.12
$GC,3640,-1.80,-194.6,2457,869,2846,3069,56.0,0.1,359,3649,0.00,3.15,0.00,0.000,1030,0.000,0.052,2443,2207,2958,2846,3070,0,0,0,0,0,0,27.14,27.11,27.15,8.81,19.20
$GC,3952,-1.80,-194.6,2442,2207,2846,3069,55.6,-0.4,390,3961,0.00,3.47,0.00,0.000,260,0.000,0.070,2426,3599,2957,2845,3069,0,0,0,0,0,0,27.36,27.02,27.38,8.81,19.60
$STATE,4175,end dive,NO_VERTICAL_VELOCITY
$STATE,4175,begin apogee
$GC,4182,-0.68,0.0,2425,2188,2845,3069,56.4,0.0,412,4327,1.23,0.00,138.85,0.737,10246,0.164,0.000,2823,2187,2284,2174,2395,0,0,0,0,0,0,26.68,26.08,25.34,8.81,19.56
$STATE,4328,end apogee,CONTROL_FINISHED_OK
$STATE,4328,begin climb
$GC,4330,1.92,194.6,2822,2187,2173,2395,50.4,0.0,427,4478,2.28,3.50,135.00,0.718,10756,0.104,0.072,3668,827,1613,1508,1718,0,0,0,0,0,0,26.37,26.13,25.40,8.76,18.81
$STATE,4590,end climb,SURFACE_DEPTH_REACHED
$STATE,4590,begin surface coast
$FINISH,0.4,0.996745
$STATE,4602,end surface coast,CONTROL_FINISHED_OK
$STATE,4602,begin surface
$SM_CCo,4621,134.07,0.670,0,0,941,390.14
$SM_GC,1.19,8.90,3.38,134.07,0.067,0.052,0.670,192,2195,941,-8.81,-1.64,390.14,0,0,0,0,0,0,26.89,26.92,25.47
$IRIDIUM_FIX,3616.96,-6229.92,060919,141811
$TT8_MAMPS,0.021721,0.165529
$HUMID,18.57
$INTERNAL_PRESSURE,8.61442
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,25.34,56.536
$10V_AH,10.64,27.707
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.200,46.725,273.850,134.075,108.575,25.860,15.407,102.371,0.000,0.000,31.784,1330.822,1922.424,515.447,1207.623,51.725,0.000,1060.883,0.000,1019.140,0.000,1.819,0.000
$DEVICE_MAMPS,238.368,72.007,737.451,670.410,181.259,34.760,160.000,223.000,420.000,0.000,12.730,13.220,2.190,13.220,38.690,58.910,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,301.608,592.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319132
$DATA_FILE_SIZE,27887,454
$CAP_FILE_SIZE,60894,0
$CFSIZE,2046525440,2013200384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.437,234.78,1
$GPS,060919,164134,3614.176,-6230.234,6,0.8,32,-15.9,0.7,142.6,9,4.9